An electric folding wheelchair capable of going up and down stairs

Abstract

The present invention discloses an electric folding wheelchair capable of ascending and descending steps. The wheelchair seat assembly is installed on the upper part of the wheelchair chassis assembly in a manner that the wheelchair seat lifting assembly can be lifted and lowered; the wheelchair wheel assembly and the wheelchair ascending and descending steps assembly are installed on the wheelchair chassis assembly; wherein the wheelchair seat assembly is composed of mutually connected foldable armrests, a foldable backrest and a wheelchair seat plate that can be translated; the wheelchair seat lifting assembly is a scissor-type mechanical structure, the upper end of the scissor-type mechanical structure matches the bottom of the wheelchair seat assembly, and the lower end of the scissor-type mechanical structure matches the wheelchair chassis assembly; the wheelchair wheel assembly is composed of a front wheel drive motor, a rear wheel drive motor and the front wheelchair wheel and the rear wheelchair wheel driven by the motor; the wheelchair ascending and descending steps assembly is composed of a front auxiliary wheel, a rear auxiliary wheel, a large motor and its power transmission mechanism. The present invention can be folded, saves space, and the seat can be freely translated and lifted, and has the function of ascending and descending steps, which is safe and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of wheelchairs, in particular to an electric wheelchair, and specifically to an electric folding wheelchair capable of going up and down stairs. Background Art

[0002] Wheelchairs are an indispensable means of transportation for the elderly and disabled who have difficulty in moving, and are applicable to a wide range of people. As people's quality of life continues to improve, the quality of life of people with limited mobility should also be improved. How to move freely and independently without relying on the help of others is the primary issue in meeting this demand. There are several types of wheelchairs currently on the market: foldable human-powered wheelchairs; electric wheelchairs with fixed seats and armrests; and wheelchairs with adjustable seats. However, the wheelchairs currently on the market still have the following defects:

[0003] 1. From the perspective of the power system of wheelchairs, the wheelchairs currently on the market are mainly driven by human power, supplemented by electric power, so electric-driven wheelchairs still have great market prospects;

[0004] 2. As for the pain point of going up and down stairs: This is the biggest factor affecting patients' independent mobility. It is not only time-consuming and laborious for a human-driven wheelchair to complete this function; and the electric-driven wheelchairs on the market are basically unable to complete this function. Only a very small number of non-mass-produced wheelchairs can achieve this function reliably;

[0005] 3. Regarding the pain point of patients transferring from bed to wheelchair by themselves: since the seats of existing wheelchairs on the market are not only fixed in height but also generally lower than the bed height, and the seats are also surrounded by armrests, it is very difficult for seriously ill patients to complete the transfer. Not only can patients not transfer to the bed by themselves, but it also brings a lot of inconvenience to caregivers;

[0006] 4. As for the space occupancy rate of electric wheelchairs: In the existing technology, the human-powered wheelchairs are basically the ones that can achieve a higher folding rate. Most of the electric wheelchairs on the market cannot be folded or can only be partially folded. Therefore, although the electric wheelchairs on the market have the function of allowing patients to move forward alone, they are generally not foldable. Summary of the invention

[0007] 1. Technical issues to be resolved

[0008] The object of the present invention is to provide an electric foldable wheelchair that can go up and down stairs, so as to solve the problems mentioned in the above background technology that most of the existing wheelchairs cannot achieve the function of going up and down stairs; it is difficult for patients to transfer from the bed to the wheelchair; and the existing electric wheelchairs are generally unable to fold, resulting in too much space occupied.

[0009] (II) Technical solution

[0010] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an electric folding wheelchair capable of ascending and descending steps, comprising a wheelchair seat assembly, a wheelchair seat lifting assembly, a wheelchair wheel assembly, a wheelchair frame assembly and a wheelchair ascending and descending step assembly, wherein the wheelchair seat assembly is escalably mounted on the upper part of the wheelchair frame assembly through the wheelchair seat lifting assembly; the wheelchair wheel assembly and the wheelchair ascending and descending step assembly are mounted on the wheelchair frame assembly; wherein the wheelchair seat assembly is composed of foldable armrests, a foldable backrest and a translatable wheelchair seat plate connected to each other; the wheelchair seat lifting assembly is a scissor-type mechanical structure, the upper end of the scissor-type mechanical structure cooperates with the bottom of the wheelchair seat assembly, and the lower end of the scissor-type mechanical structure cooperates with the wheelchair frame assembly; the wheelchair wheel assembly is composed of a front wheel drive motor, a rear wheel drive motor and the front wheelchair wheel and the rear wheelchair wheel driven by the motor; the wheelchair ascending and descending step assembly is composed of a front auxiliary wheel, a rear auxiliary wheel, a large motor and a power transmission mechanism thereof.

[0011] As a further improvement of the present invention, the wheelchair seat assembly comprises a base, a square tube, a first layer seat plate, a second layer seat plate, a third layer seat plate, a small motor, a screw stud, a linear guide rail 1, a linear guide rail 2, a backrest, an armrest, a backrest bracket and a fixing plate, square tubes are symmetrically arranged on both sides of the inner wall of the base, an intermediate cross beam is arranged in the middle of the base along the width direction, a small motor is installed in the middle of the intermediate cross beam, the power output end of the small motor is connected to one end of the screw stud, and the other end of the screw stud is hinged to the bottom of the third layer seat plate; linear guide rails 1 are symmetrically arranged on both sides of the upper surface of the third layer seat plate along its length direction, and a first linear guide rail 1 is slidably arranged on the linear guide rail 1 The first layer seat plate has two layers, and two ends of the upper surface of the first layer seat plate are symmetrically provided with linear guide rails 2 along the width direction, and the second layer seat plate is slidably provided on the linear guide rails 2; one end of the third layer seat plate is hinged to the hole 3 on the fixing plates on both sides, and the other end is hinged to the hole 6 of the base, and cross beams are arranged in parallel on both sides of the lower end of the third layer seat plate, and the two ends of the cross beams are respectively hinged to the hole 4 on the fixing plate and the hole 5 of the base; a backrest bracket is installed on the fixing plate through a knob plunger 2 and a stud 2, a backrest is installed between the backrest brackets on both sides, a hole 1 is arranged on the upper end of the backrest bracket, an armrest is rotatably installed on the outer side of the backrest bracket through a stud 1, and a knob plunger 1 is arranged at the end of the armrest.

[0012] As a further improvement of the present invention, the wheelchair seat lifting assembly includes a medium-sized stepping motor, a screw, a conversion seat, small wheels, a cross bar 1, a supporting column 1, a cross bar 2 and a supporting column 2. The two screws are symmetrically installed on both sides of the rear end of the wheelchair frame assembly through a pair of supports. A guide rail is arranged below the screw. The conversion seat is engaged with the screw by a thread, and the bottom of the conversion seat is matched with the guide rail. The lower end of the supporting column 2 is hinged to the conversion seat, and its upper end is fixedly connected to the cross bar 2, and the two ends of the cross bar 2 are matched with the hole seven of the base; the supporting column 1 intersects with the supporting column 2, and their intersection is hinged, and the lower end of the supporting column 1 is hinged to the wheelchair frame assembly, and its upper end is fixedly connected to the cross bar 1. Small wheels are arranged at both ends of the cross bar 1, and the small wheels can be slidably engaged in the square tube.

[0013] As a further improvement of the present invention, the wheelchair wheel assembly includes a wheelchair front wheel, a large rear wheel motor, a wheelchair rear wheel and a large front wheel motor, a pair of large rear wheel motors are symmetrically installed on the two side walls of the rear end of the wheelchair frame assembly, the wheelchair rear wheels are symmetrically arranged on the outside of the two sides of the rear end of the wheelchair frame assembly, and the wheel axles of the wheelchair rear wheels are connected to the power output ends of the large rear wheel motors; a pair of large front wheel motors are symmetrically installed on the two side walls of the front end of the wheelchair frame assembly, the wheelchair front wheels are symmetrically arranged on the outside of the two sides of the front end of the wheelchair frame assembly, and the wheel axles of the wheelchair front wheels are connected to the power output ends of the large front wheel motors.

[0014] As a further improvement of the present invention, the wheelchair stair up / down assembly comprises a front auxiliary wheel, a rear auxiliary wheel, a large motor, a small sprocket 1, a large sprocket 1, a front auxiliary wheel shaft, a small sprocket 2, a large sprocket 2, a rear auxiliary wheel shaft, a rear auxiliary wheel bracket and a front auxiliary wheel bracket, a front auxiliary wheel shaft is arranged between the supports at the front end of the wheelchair chassis assembly, the front auxiliary wheel is connected to the front auxiliary wheel shaft through the front auxiliary wheel bracket, a large sprocket 1 is coaxially mounted on the front auxiliary wheel shaft, a large motor is arranged at the middle part of the wheelchair chassis assembly, a small sprocket 1 is arranged on the power output shaft of the large motor, and the small sprocket 1 is connected to the large sprocket 1 through a belt; a rear auxiliary wheel shaft is arranged between the supports at the rear end of the wheelchair chassis assembly, the rear auxiliary wheel is connected to the rear auxiliary wheel shaft through the rear auxiliary wheel bracket, a large sprocket 2 is coaxially mounted on the rear auxiliary wheel shaft, the large sprocket 2 is connected to the small sprocket 2 on its front side through a belt, and the small sprocket 1 is connected to the small sprocket 2 through a belt.

[0015] As a further improvement of the present invention, the front end of the wheelchair chassis assembly is hinged with a foot pedal via a hinge.

[0016] As a further improvement of the present invention, the support column 1 and the support column 2 are crossed to form a scissor-type mechanical structure.

[0017] As a further improvement of the present invention, the hole three, hole four, the third layer seat plate, the crossbeam, hole five and hole six form a parallelogram four-bar linkage.

[0018] As a further improvement of the present invention, the medium-sized stepping motor, the small motor, the large motor, the rear wheel large motor and the front wheel large motor are all electrically connected to the battery and the controller.

[0019] (III) Beneficial effects

[0020] Compared with the prior art, after adopting the above technical solution, the beneficial effects of the present invention are as follows:

[0021] 1. The present invention utilizes two special front and rear auxiliary wheels to enable the wheelchair to go up and down most stairs: when the wheelchair encounters stairs, first the front auxiliary wheels are placed on the stairs and move toward the ground, the front wheels of the wheelchair are supported so that the lowest point of the front wheels of the wheelchair is raised to a position slightly higher than the stairs, and at the same time the seat is tilted to ensure that the seat plate is always parallel to the ground, thereby ensuring the comfort of the patient when the front wheels of the wheelchair go up the stairs, and then the large motor of the rear wheels drives the front wheels of the wheelchair to go up the stairs; similarly, the rear wheels of the wheelchair are then supported by the rear auxiliary wheels, so that the lowest point of the rear wheels of the wheelchair is raised to a position slightly higher than the stairs, and at the same time, the seat tilt disappears synchronously to ensure that the seat plate is always parallel to the ground, thereby ensuring the comfort of the patient when the rear wheels of the wheelchair go up the stairs; finally the large motor of the front wheels drives the rear wheels to go up the stairs. At this point, the wheelchair completes the action of climbing stairs. The mechanism is simple, effective, and highly reliable. Other current electric wheelchairs still do not have a reliable structure to achieve this function.

[0022] 2. The present invention uses a freely movable seat plate to enable seriously ill patients to easily get on a wheelchair from a bed alone; the seat plate is divided into three layers, the first layer moves in the x direction, the second layer moves in the y direction, and the third layer rotates around the y axis. At the same time, the lifting of the seat will realize the movement of the seat plate in the z direction, with multiple degrees of freedom, solving the difficulty of the last half meter of transfer for people with limited mobility. Other current electric wheelchairs still do not have a reliable structure to achieve this function;

[0023] 3. The present invention can fold the wheelchair. The scissor-fork mechanical structure can not only lift the wheelchair seat, but also fold the seat. Since the hinge fixes the footrest to the wheelchair chassis assembly, the footrest can also be folded. Since the armrest is fixed by the pin of the knob plunger, the wheelchair armrest can be folded. Similarly, the wheelchair backrest can also be folded, and the folding form is from top to bottom, which is different from the common electric wheelchair folding from left to right. After folding, it can form a more compact square, which is firm and reliable, saves space, beautifies the room, and brings convenience to overall transportation.

[0024] 4. The present invention utilizes four-wheel drive to make the wheelchair more flexible to operate, and the pure electric operation is safer and more reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1It is a structural schematic diagram of an embodiment provided by the present invention;

[0026] Figure 2 is a structural schematic diagram of a wheelchair seat lifting assembly in an embodiment provided by the present invention;

[0027] Figure 3 is a schematic structural diagram of a wheelchair wheel assembly in an embodiment provided by the present invention;

[0028] Figure 4 It is a structural schematic diagram of a wheelchair seat assembly with a seat plate lifted in an embodiment provided by the present invention;

[0029] Figure 5 It is a structural schematic diagram of a folded seat plate of a wheelchair seat assembly in an embodiment provided by the present invention;

[0030] Figure 6 It is a structural schematic diagram of a hand operator in an embodiment provided by the present invention;

[0031] Figure 7 It is a circuit block diagram of the controller and the hand operator in the embodiment provided by the present invention;

[0032] Figure 8 is a circuit schematic diagram of a core control chip in an embodiment provided by the present invention;

[0033] Fig. 9 is a circuit schematic diagram of a motor drive module 1 in an embodiment provided by the present invention;

[0034] Fig.10 is a circuit schematic diagram of the motor drive module 2 in the embodiment provided by the present invention;

[0035] Description of reference numerals:

[0036] 1. Medium-sized stepper motor; 2. Screw; 3. Conversion seat; 4. Small wheel; 5. Base; 6. Square tube; 7. First-layer seat plate; 8. Second-layer seat plate; 9. Third-layer seat plate; 10. Small motor; 11. Screw stud; 12-1. Linear guide rail 1; 12-2. Linear guide rail 2; 13. Front auxiliary wheel; 14. Rear auxiliary wheel; 15. Wheelchair front wheel; 16. Large motor; 17. Small sprocket 1; 18. Large sprocket 1; 19. Front auxiliary wheel shaft; 20. Small sprocket 2; 21. Large sprocket 2; 22. Rear auxiliary wheel shaft; 23. Large motor for rear wheel; 24. Wheelchair rear wheel; 25, front wheel large motor; 26, hole one; 27, knob plunger one; 28, stud one; 29, knob plunger two; 30, hole two; 31, stud two; 32, hole three; 33, crossbar one; 34, support column one; 35, crossbar two; 36, wheelchair chassis assembly; 37, support column two; 38, backrest; 39, armrest; 40, backrest bracket; 41, fixing plate; 42, hole five; 43, hole six; 44, hole seven; 45, crossbeam; 46, hole four; 47, rear auxiliary wheel bracket; 48, front auxiliary wheel bracket; 49, foot pedal; 50, middle crossbeam. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] See also Figure 1-Figure 5 The present invention provides an embodiment: an electric folding wheelchair capable of going up and down stairs, comprising a medium-sized stepping motor 1, a screw rod 2, a conversion seat 3, a small wheel 4, a base 5, a square tube 6, a first-layer seat plate 7, a second-layer seat plate 8, a third-layer seat plate 9, a small motor 10, a screw rod stud 11, a linear guide rail 12-1, a linear guide rail 2 12-2, a front auxiliary wheel 13, a rear auxiliary wheel 14, a wheelchair front wheel 15, a large motor 16, a small sprocket 17, a large sprocket 18, a front auxiliary wheel shaft 19, a small sprocket 20, a large sprocket 21, a rear auxiliary wheel Axle 22, rear wheel large motor 23, wheelchair rear wheel 24, front wheel large motor 25, hole 1 26, knob plunger 1 27, stud 1 28, knob plunger 2 29, hole 2 30, stud 2 31, hole 32, cross bar 1 33, support column 1 34, cross bar 2 35, wheelchair chassis assembly 36, support column 2 37, backrest 38, armrest 39, backrest bracket 40, fixing plate 41, hole 5 42, hole 6 43, hole 7 44, cross beam 45, hole 4 46, rear auxiliary wheel bracket 47, front auxiliary wheel bracket 48, foot pedal 49 and middle cross beam 50,

[0039] Square tubes 6 are symmetrically arranged on both sides of the inner wall of the base 5, an intermediate crossbeam 50 is arranged in the middle of the base 5 along the width direction, a small motor 10 is installed in the middle of the intermediate crossbeam 50, the power output end of the small motor 10 is connected to one end of a screw stud 11, and the other end of the screw stud 11 is hinged to the bottom of the third seat plate 9; linear guide rails 12-1 are symmetrically arranged on both sides of the upper surface of the third seat plate 9 along its length direction, and the first seat plate 7 is slidably arranged on the linear guide rails 12-1, and the two ends of the upper surface of the first seat plate 7 are symmetrically arranged along its width direction, and the second seat plate 8 is slidably arranged on the linear guide rails 12-2; one end of the third seat plate 9 is connected to the fixing plates 41 on both sides. The third hole 32 of the third seat plate 9 is hinged, and the other end is hinged to the hole 6 43 of the base 5. A crossbeam 45 is arranged in parallel on both sides of the lower end of the third seat plate 9, and the two ends of the crossbeam 45 are respectively hinged to the hole 46 on the fixing plate 41 and the hole 5 42 of the base 5. The hole 32, the hole 46, the third seat plate 9, the crossbeam 45, the hole 5 42 and the hole 6 43 form a parallelogram four-bar mechanism; a backrest bracket 40 is installed on the fixing plate 41 through the knob plunger 29 and the stud 2 31, and a backrest 38 is installed between the backrest brackets 40 on both sides. A hole 1 26 is arranged on the upper end of the backrest bracket 40, and an armrest 39 is rotatably installed on the outer side of the backrest bracket 40 through the stud 1 28, and a knob plunger 1 27 is arranged at the end of the armrest 39;

[0040] The two screw rods 2 are symmetrically installed on both sides of the rear end of the wheelchair chassis assembly 36 through a pair of supports, a guide rail is arranged below the screw rod 2, the conversion seat 3 is threadedly fitted on the screw rod 2, and the bottom of the conversion seat 3 is matched with the guide rail, the lower end of the supporting column 2 37 is hinged to the conversion seat 3, and its upper end is fixedly connected to the cross bar 2 35, and the two ends of the cross bar 2 35 are matched with the hole 7 44 of the base 5; the supporting column 1 34 is crossed with the supporting column 2 37, and the intersection point is hinged, and the lower end of the supporting column 1 34 is hinged to the wheelchair chassis assembly 36, and its upper end is fixedly connected to the cross bar 1 33, and small wheels 4 are arranged at both ends of the cross bar 1 33, and the small wheels 4 can be slidably fitted in the square tube 6; the supporting column 1 34 and the supporting column 2 37 are crossed to form a scissor-type mechanical structure;

[0041] A pair of large rear wheel motors 23 are symmetrically mounted on both side walls of the rear end of the wheelchair chassis assembly 36, and wheelchair rear wheels 24 are symmetrically arranged on both sides of the rear end of the wheelchair chassis assembly 36, and the wheel axles of the wheelchair rear wheels 24 are connected to the power output ends of the large rear wheel motors 23; a pair of large front wheel motors 25 are symmetrically mounted on both side walls of the front end of the wheelchair chassis assembly 36, and wheelchair front wheels 15 are symmetrically arranged on both sides of the front end of the wheelchair chassis assembly 36, and the wheel axles of the wheelchair front wheels 15 are connected to the power output ends of the large front wheel motors 25;

[0042] A front auxiliary wheel shaft 19 is arranged between the supports at the front end of the wheelchair chassis assembly 36, the front auxiliary wheel 13 is connected to the front auxiliary wheel shaft 19 through the front auxiliary wheel bracket 48, a large sprocket 18 is coaxially mounted on the front auxiliary wheel shaft 19, a large motor 16 is installed in the middle of the wheelchair chassis assembly 36, a small sprocket 17 is arranged on the power output shaft of the large motor 16, and the small sprocket 17 is connected to the large sprocket 18 through a belt; a front auxiliary wheel shaft 19 is arranged between the supports at the rear end of the wheelchair chassis assembly 36. The rear auxiliary wheel shaft 22, the rear auxiliary wheel 14 is connected to the rear auxiliary wheel shaft 22 through the rear auxiliary wheel bracket 47, and a large sprocket 21 is coaxially installed on the rear auxiliary wheel shaft 22. The large sprocket 21 is connected to the small sprocket 20 on its front side through a belt, and the small sprocket 17 is connected to the small sprocket 20 through a belt; the front end of the wheelchair frame assembly 36 is hinged with a foot pedal 49 through a hinge, and the hinge connects the foot pedal 49 to the wheelchair frame assembly 36 to achieve the purpose of folding the foot pedal 49.

[0043] In this embodiment, the medium-sized stepper motor 1, the small motor 10, the large motor 16, the rear wheel large motor 23 and the front wheel large motor 25 are all electrically connected to the battery and the controller, and the battery and the controller are installed in the reserved space of the wheelchair chassis assembly 36, which is not shown in the figure.

[0044] The principle and use method of this embodiment are as follows:

[0045] How to unfold a folded wheelchair:

[0046] like Figure 2 As shown, in the folded state, a pair of medium-sized stepper motors 1 in the wheelchair drive the lead screw 2 to rotate, thereby causing the conversion seat 3 to move linearly. When the conversion seat 3 moves linearly, it drives the A end of the scissors-type mechanical structure to move linearly, so that the small wheel 4 at the C end of the scissors-type mechanical structure rolls in the square tube 6 welded to the base 5. With the movement of the conversion seat 3, the B end and the D end of the scissors-type mechanical structure rotate along the hinge point, and finally the wheelchair seat rises to a position at the same height as the bed.

[0047] Working principle of free movement of seat plate:

[0048] like Figure 4 , Figure 5 As shown, the seat plate is composed of three parts. The first seat plate 7 is translated along the forward direction of the wheelchair through a linear guide rail 12-1, the second seat plate 8 is translated perpendicular to the forward direction of the wheelchair through a linear guide rail 2 12-2, and the third seat plate 9 is pushed by a small motor 10 using a screw stud 11 to form a certain angle according to the principle of a parallelogram four-bar linkage. When the wheelchair seat plate rises to a position at the same height as the bed, the person can not only translate the seat plate onto the bed, but also adjust the inclination of the seat plate to facilitate the patient to sit on the wheelchair.

[0049] How stair climbing works:

[0050] like Figure 3 As shown, when preparing to climb the stairs, the front auxiliary wheel 13 is higher than the stairs, and the rear auxiliary wheel 14 is off the ground.

[0051] Wheelchair front wheel 15 steps to climb stairs:

[0052] The first stage is: when the front wheel 15 of the wheelchair encounters a step, the large motor 16 rotates forward and uses the small sprocket 1 17 to drive the large sprocket 1 18, so that the front auxiliary wheel 13 moves in a circle around the front auxiliary wheel shaft 19 toward the ground. At the same time, the small sprocket 2 20 drives the large sprocket 2 21 to make the rear auxiliary wheel 14 move upward with the rear auxiliary wheel shaft 22 as the center of the circle;

[0053] The second stage is: after the front auxiliary wheel 13 is pressed onto the step during the movement, the front wheel 15 of the wheelchair will be lifted off the ground until the lowest point of the front wheel 15 of the wheelchair exceeds the height of the step. At the same time, the third-layer seat plate 9 is pushed by the small motor 10 using the screw stud 11 to tilt the seat plate so that the seat plate is always parallel to the ground, ensuring the comfort of the patient when the front wheel 15 of the wheelchair goes up the step.

[0054] The third stage is: when the lowest point of the front wheel 15 of the wheelchair exceeds the height of the step, the large rear wheel motor 23 drives the rear wheel 24 of the wheelchair to move the wheelchair forward, so that the front wheel 15 of the wheelchair climbs up the step;

[0055] Steps for climbing stairs with 24 rear wheels:

[0056] The first stage is: when the lowest point of the front wheel 15 of the wheelchair passes over the step, the large motor 16 reverses, and the small sprocket 20 drives the large sprocket 21, so that the rear auxiliary wheel 14 moves toward the ground with the rear auxiliary wheel shaft 22 as the center. At the same time, the small sprocket 17 drives the large sprocket 18, so that the front auxiliary wheel 13 moves upward in a circle around the front auxiliary wheel shaft 19, so that the front wheel 15 of the wheelchair touches the ground;

[0057] The second stage is: the rear auxiliary wheel 14 is pressed against the ground during the movement, and the rear wheel 24 of the wheelchair is lifted off the ground until it exceeds the step height. At the same time, the third layer seat plate 9 is pushed by the small motor 10 through the screw stud 11 to cancel the seat plate tilt, so that the seat plate is always parallel to the ground, ensuring the comfort of the patient when the front wheelchair wheel 15 goes up the step;

[0058] The third stage is: when the lowest point of the wheelchair rear wheel 24 exceeds the step height, the front wheel large motor 25 rotates to make the wheelchair front wheel 15 run, so that the wheelchair moves forward;

[0059] The fourth stage is: after the rear wheel 24 of the wheelchair passes over the steps, the large motor 16 rotates forward to make the front and rear auxiliary wheels return to the preparation stage. At this time, the whole process of the wheelchair climbing the steps is completed and preparations are made for the next step climbing.

[0060] The working principle of folding is opposite to that of unfolding the wheelchair, and the working principle of going down the steps is opposite to that of going up the steps.

[0061] How to fold the wheelchair backrest and armrests:

[0062] like Figure 4 , Figure 5 As shown, when the armrest 39 is folded, the knob plunger 27 is first pulled outward by hand, and then the armrest 39 is folded with the stud 28 as the center, and finally the knob plunger 27 is released, so that the pin of the knob plunger 27 at the end of the armrest 39 is inserted into the hole 26 at the upper end of the backrest bracket 40, and finally the armrest is folded. Similarly, when the backrest 38 is folded backward, the knob plunger 29 is first pulled up, and then the backrest 38 is folded with the stud 2 31 as the center, and finally the knob plunger 29 is released so that the pin therein is buckled into the hole 2 30 on the fixing plate 41.

[0063] like Figure 6 As shown, the electric wheelchair in this embodiment uses a hand controller installed at the front end of the armrest as the main control mechanism, voice control as an auxiliary control means, and the battery and controller are installed in the reserved space of the wheelchair chassis assembly 36. Figure 7 , Figure 8 As shown, the core control chip uses ATxmega128 high-end series chip, which has higher processing speed and faster response. Fig. 9 , Fig.10 As shown in the figure, the two-channel analog signal input by the left joystick of the hand operator is processed by the analog-to-digital converter to obtain the digital quantity of each channel. The program determines the position of the joystick at this time, and calculates the corresponding speed level based on this to obtain the corresponding movement direction. Four PWM signals are output to the motor drive module through the general I / O port to achieve real-time motor speed regulation and control the forward and backward and steering movement of the wheelchair. The right joystick inputs a two-channel analog signal, which also controls the adjustment of the wheelchair seat height and can manually operate the up and down step mechanism. At the same time, the analog channel of the reserved knob on the hand operator controls the motor that adjusts the upright shape of the seat plate to achieve posture adjustment.

[0064] Use the voice input module connected through the serial port to perform corresponding actions according to the preset speed and motor control process of the program with simple voice commands such as "fast", "medium", "slow", "forward", "backward", and "up stairs".

[0065] The hand operator of this embodiment is provided with an electronic display screen that can display the working status, working time, forward speed, battery power and other information of the wheelchair. The working status of the wheelchair is determined by the rocker attitude signal or voice command, and the working information is displayed on the electronic display screen. The circuit reserves a port to monitor the battery voltage in real time and feed back the power information to the electronic display screen. The timer of the core control chip records the working time of the wheelchair, and detects the forward speed of the wheelchair in combination with the photoelectric gate sensor. The wheelchair is equipped with an acceleration sensor to detect the inclination angle of the wheelchair and issue a capsizing alarm before exceeding the dangerous threshold. The switches and buttons reserved on the hand operator can control the wheelchair to turn on the lights or sound the horn at night or in dim environment.

[0066] In summary, the present invention can be folded to save space, and the seat can be freely translated and raised and lowered, and has the function of going up and down steps, which is safe and reliable.

[0067] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive in all respects, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention.

[0068] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An electric folding wheelchair capable of going up and down stairs, characterized in that: It comprises a wheelchair seat assembly, a wheelchair seat lifting assembly, a wheelchair wheel assembly, a wheelchair frame assembly and a wheelchair up and down step assembly, wherein the wheelchair seat assembly is liftably mounted on the upper part of the wheelchair frame assembly through the wheelchair seat lifting assembly; the wheelchair wheel assembly and the wheelchair up and down step assembly are mounted on the wheelchair frame assembly; wherein the wheelchair seat assembly is composed of foldable armrests, a foldable backrest and a translatable wheelchair seat plate that are interconnected; the wheelchair seat lifting assembly is a scissor-type mechanical structure, the upper end of the scissor-type mechanical structure cooperates with the bottom of the wheelchair seat assembly, and the lower end of the scissor-type mechanical structure cooperates with the wheelchair frame assembly; the wheelchair wheel assembly is composed of a front wheel drive motor, a rear wheel drive motor and the front wheelchair wheel and the rear wheelchair wheel driven by the motor; the wheelchair up and down step assembly is composed of a front auxiliary wheel, a rear auxiliary wheel, a large motor and a power transmission mechanism thereof; The wheelchair seat lifting assembly comprises a medium-sized stepping motor, a screw rod, a conversion seat, a small wheel, a crossbar 1, a supporting column 1, a crossbar 2 and a supporting column 2. The two screw rods are symmetrically mounted on both sides of the rear end of the wheelchair chassis assembly through a pair of supports. A guide rail is arranged below the screw rod. The conversion seat is engaged with the screw rod through a thread, and the bottom of the conversion seat is engaged with the guide rail. The lower end of the supporting column 2 is hinged to the conversion seat, and its upper end is fixedly connected to the crossbar 2, and the two ends of the crossbar 2 are engaged with the hole 7 of the base; the supporting column 1 intersects with the supporting column 2, and the intersection point is hinged, and the lower end of the supporting column 1 is hinged to the wheelchair chassis assembly, and its upper end is fixedly connected to the crossbar 1. Both ends of the crossbar 1 are provided with small wheels, and the small wheels can be slidably engaged in the square tube; The wheelchair stair-up and downstairs assembly comprises a front auxiliary wheel, a rear auxiliary wheel, a large motor, a small sprocket 1, a large sprocket 1, a front auxiliary wheel shaft, a small sprocket 2, a large sprocket 2, a rear auxiliary wheel shaft, a rear auxiliary wheel bracket and a front auxiliary wheel bracket. A front auxiliary wheel shaft is arranged between the supports at the front end of the wheelchair chassis assembly, the front auxiliary wheel is connected to the front auxiliary wheel shaft through the front auxiliary wheel bracket, a large sprocket 1 is coaxially mounted on the front auxiliary wheel shaft, a large motor is arranged at the middle part of the wheelchair chassis assembly, a small sprocket 1 is arranged on the power output shaft of the large motor, and the small sprocket 1 is connected to the large sprocket 1 through a belt; a rear auxiliary wheel shaft is arranged between the supports at the rear end of the wheelchair chassis assembly, the rear auxiliary wheel is connected to the rear auxiliary wheel shaft through the rear auxiliary wheel bracket, a large sprocket 2 is coaxially mounted on the rear auxiliary wheel shaft, the large sprocket 2 is connected to the small sprocket 2 on its front side through a belt, and the small sprocket 1 is connected to the small sprocket 2 through a belt; The wheelchair seat assembly comprises a base, a square tube, a first layer seat plate, a second layer seat plate, a third layer seat plate, a small motor, a screw stud, a linear guide rail 1, a linear guide rail 2, a backrest, an armrest, a backrest bracket and a fixing plate. Square tubes are symmetrically arranged on both sides of the inner wall of the base, an intermediate cross beam is arranged in the middle of the base along the width direction, a small motor is installed in the middle of the intermediate cross beam, the power output end of the small motor is connected to one end of the screw stud, and the other end of the screw stud is hinged to the bottom of the third layer seat plate; linear guide rails 1 are symmetrically arranged on both sides of the upper surface of the third layer seat plate along its length direction, the first layer seat plate is slidably arranged on the linear guide rail 1, and the first Two ends of the upper surface of the layer seat plate are symmetrically arranged along its width direction, and the second layer seat plate is slidably arranged on the linear guide rail 2; one end of the third layer seat plate is hinged to the hole 3 on the fixing plates on both sides, and the other end is hinged to the hole 6 of the base, and cross beams are arranged in parallel on both sides of the lower end of the third layer seat plate, and the two ends of the cross beam are respectively hinged to the hole 4 on the fixing plate and the hole 5 of the base; a backrest bracket is installed on the fixing plate through a knob plunger 2 and a stud 2, a backrest is installed between the backrest brackets on both sides, a hole 1 is arranged on the upper end of the backrest bracket, an armrest is rotatably installed on the outer side of the backrest bracket through a stud 1, and a knob plunger 1 is arranged at the end of the armrest.

2. The electric foldable wheelchair capable of going up and down stairs according to claim 1, characterized in that: The wheelchair wheel assembly comprises a wheelchair front wheel, a large rear wheel motor, a wheelchair rear wheel and a large front wheel motor; a pair of large rear wheel motors are symmetrically mounted on the two side walls at the rear end of the wheelchair chassis assembly; the wheelchair rear wheels are symmetrically arranged on the two sides outside the rear end of the wheelchair chassis assembly, and the wheel axles of the wheelchair rear wheels are connected to the power output ends of the large rear wheel motors; a pair of large front wheel motors are symmetrically mounted on the two side walls at the front end of the wheelchair chassis assembly; the wheelchair front wheels are symmetrically arranged on the two sides outside the front end of the wheelchair chassis assembly, and the wheel axles of the wheelchair front wheels are connected to the power output ends of the large front wheel motors.

3. The electric foldable wheelchair capable of going up and down stairs according to claim 1, characterized in that: The front end of the wheelchair chassis assembly is hinged with a foot pedal via a hinge.

4. The electric foldable wheelchair capable of going up and down stairs according to claim 1, characterized in that: The first supporting column and the second supporting column cross to form a scissor-type mechanical structure.

5. The electric foldable wheelchair capable of going up and down stairs according to claim 1, characterized in that: The hole three, hole four, the third layer seat plate, the crossbeam, hole five and hole six form a parallelogram four-bar linkage mechanism. The first layer seat plate is translated along the forward direction of the wheelchair through the linear guide rail one, the second layer seat plate is translated perpendicular to the forward direction of the wheelchair through the linear guide rail two, and the third layer seat plate is pushed by a small motor using a screw rod and a stud to form an oblique angle according to the principle of the parallelogram four-bar linkage mechanism.

6. The electric foldable wheelchair capable of going up and down stairs according to claim 1, characterized in that: The folding method of the backrest and the armrest is as follows: when folding the armrest, first pull the knob plunger 1 outward by hand, then fold the armrest with the stud 1 as the center, and finally release the knob plunger 1 so that the pin of the knob plunger 1 at the end of the armrest is inserted into the hole 1 at the upper end of the backrest bracket, and finally fold the armrest; when folding the backrest backward, first pull up the knob plunger 2, then fold the backrest with the stud 2 as the center, and finally release the knob plunger so that the pin therein is buckled into the hole 2 on the fixing plate.

7. The electric foldable wheelchair capable of going up and down stairs according to claim 1, characterized in that: The electric folding wheelchair climbing step method is: Steps for climbing stairs with the front wheels of a wheelchair: When the front wheel of the wheelchair encounters a step, the large motor rotates forward and uses the small sprocket 1 to drive the large sprocket 1, so that the front auxiliary wheel moves in a circle around the front auxiliary wheel axis toward the ground. At the same time, the small sprocket 2 drives the large sprocket 2 to make the rear auxiliary wheel move upward with the rear auxiliary wheel axis as the center of the circle; When the front auxiliary wheel presses onto the step during the movement, the front wheelchair ... When the lowest point of the front wheel of the wheelchair exceeds the height of the step, the large motor of the rear wheel drives the rear wheel of the wheelchair to move the wheelchair forward, so that the front wheel of the wheelchair climbs up the step; Steps for climbing stairs with rear wheels of wheelchair: When the lowest point of the front wheel of the wheelchair passes over the step, the large motor reverses, and the small sprocket 2 drives the large sprocket 2, so that the rear auxiliary wheel moves toward the ground with the rear auxiliary wheel axis as the center. At the same time, the small sprocket 1 drives the large sprocket 1, so that the front auxiliary wheel moves upward in a circle around the front auxiliary wheel axis, so that the front wheel of the wheelchair touches the ground; During the movement, the rear auxiliary wheels are pressed against the ground, lifting the rear wheels of the wheelchair off the ground until they exceed the step height. At the same time, the third-layer seat plate is pushed by a small motor using a screw rod and a stud to tilt the seat plate, so that the seat plate is always parallel to the ground. When the lowest point of the rear wheel of the wheelchair exceeds the height of the step, the large motor of the front wheel rotates to make the front wheel of the wheelchair run, so that the wheelchair moves forward; When the rear wheels of the wheelchair pass over the steps, the large motor rotates forward to return the front and rear auxiliary wheels to the preparation stage. At this time, the whole process of the wheelchair climbing the steps is completed and preparations are made for the next step climbing.

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